Method for controlling at least one self-propelled agricultural working machine

Abstract

The present invention relates to a method for controlling at least one self-propelled agricultural machine (1) according to the preamble of claim 1. To provide a method that eliminates the disadvantages described in the prior art and enables fuel-efficient operation of the machine (1), the following method steps are proposed according to the invention: - Acquiring first foreground information of the geographic foreground (6) using the sensor (7) of the foreground detection system (5). - Transmitting the first foreground information to the control system (8). - Transmitting second foreground information to the control system (8), wherein the second foreground information comprises at least one piece of information from a biomass forecast map (27). - Determining a forecast accuracy (35, 36) of at least the first and / or second foreground information.- Determination of a motor setting of the drive motor (30) for driving the working machine (1) with a predetermined travel speed depending on at least the first foreground information and its prediction quality (35) and / or the second foreground information and its prediction quality (36) by means of the computing unit (9) of the control system (8).

Description

[0001] The present application relates to a method for controlling at least one self-propelled agricultural machine according to the preamble of claim 1. Furthermore, the application relates to a self-propelled agricultural machine according to the preamble of claim 14.

[0002] Self-propelled agricultural machinery such as combine harvesters or forage harvesters are typically equipped with a variety of working elements for processing crops taken from a field during the harvesting process. For the purposes of the present invention, "crop" is understood to mean the entire crop stream, including those grains that have not yet been extracted from the crop stream and any grains that may remain in the crop stream as a loss and are deposited with the straw.

[0003] A working element can be designed, for example, as an attachment device that can be mounted on the working machine, as an inclined conveyor, as a threshing device, as a separating device, as a cleaning device, as a grain elevator, as a return screw, as a grain tank emptying device, as a post-accelerator, as a grain screw and / or as a grain tank screw.

[0004] A self-propelled agricultural machine designed as a combine harvester is used for harvesting and threshing grain crops. This machine typically includes several working components such as a header, threshing unit, separator, cleaning unit, and spreader. Threshing is carried out by the threshing unit, which extracts grain from the crop picked up by the combine's header. After threshing, the grain is conveyed to the separator and then, via the cleaning unit, to a grain tank. Other components of the harvested crop, such as chaff and straw, remain. These can either be spread across the field or, in the case of straw, laid in windrows for later processing, for example, by a baler.

[0005] The working components are controlled by specifying various machine parameters, which must be adjusted during the harvesting process. By setting these machine parameters, at least partially autonomous adjustment and optimization of the harvesting process can be achieved.

[0006] A threshing machine can be controlled, for example, by specifying various threshing parameters. Depending on the machine's design, these include drive parameters such as drum speed or other movement characteristics of the threshing drum, as well as concave width – that is, the distance between the threshing drum and the concave. Optimal control of the working components is of particular importance for achieving the desired harvest quality and crop throughput.

[0007] Furthermore, the self-propelled agricultural machine has at least one drive system for powering the machine. A driving speed, typically set by the drive system, determines the crop throughput passing through the machine in conjunction with the crop density of the field to be harvested.

[0008] For the purposes of the present invention, the term "plant density" is to be interpreted broadly. It encompasses any information that indicates the quantity of plants present per unit area in the field to be harvested. This could be, for example, the number of plant stems per unit area, the plant volume per unit area, or the like. The term "area" here refers to the area, or a portion thereof, of the field to be harvested.

[0009] For the purposes of the present invention, "crop throughput" is understood to mean the quantity of crop taken in per unit of time by the self-propelled agricultural machine.

[0010] Due to the aforementioned correlation, numerous machine parameters of the working components of the self-propelled agricultural machine depend on the travel speed, as this generally significantly influences the amount of material the machine can process. The drive system can be powered, for example, by an internal combustion engine, particularly a diesel engine, and can be used not only to propel the machine but also to drive its working components. The drive system enables the machine to travel at a specific speed in one direction along the field to be harvested.

[0011] Furthermore, the work machine includes at least one foreground detection system, which records information regarding a geographical foreground of the self-propelled work machine.

[0012] For the purposes of the present invention, a "geographical foreground" is understood to be the environment surrounding the self-propelled agricultural machine. The foreground therefore does not encompass anything that occurs within the machine itself. The sensor is assigned a spatial area of ​​application located in the vicinity of the machine, preferably directly in front of the machine in the direction of travel. The geographical foreground of the self-propelled agricultural machine thus includes, in particular, the field to be harvested or at least a section of the field currently being harvested.

[0013] The forefield detection system comprises at least one sensor mounted on the self-propelled machine. The information captured by the sensor can relate to numerous different aspects of the area in front of the machine. This includes, for example, information concerning a section of the field to be harvested, information concerning the geometric conditions of the field to be harvested, or information concerning the surrounding area of ​​the field to be harvested.

[0014] Furthermore, the machine has a control system. This control system, in turn, has at least one processing unit for processing the information acquired by the foreground detection system regarding at least one machine parameter for controlling the at least one drive unit and / or the at least one working element of the self-propelled machine.

[0015] Typically, the working elements of the harvesting machine can be controlled by the control system based on a harvesting process strategy. This strategy includes a target specification for setting or optimizing harvesting process parameters. The implementation of this strategy can be achieved by the control system specifying corresponding machine parameters for the working elements. Depending on the control system's design, it may be possible to select the desired harvesting process strategy from a number of predefined strategies and / or to configure the parameters of the respective harvesting process strategy using user-defined settings.

[0016] Typically, the drive motor of an agricultural machine is continuously operated at full power during the harvesting process. In other words, the operating point of the drive motor, defined by speed and power, follows a characteristic curve that exhibits a rising branch at low speeds, where power increases with speed, and a falling branch, with decreasing power, at high speeds.

[0017] It is understood that the power demanded from the drive motor by, for example, a chopping unit of a forage harvester, increases monotonically with the crop throughput and is therefore proportional to the driving speed and the crop density in the field, while the power required for the forage harvester's movement is essentially proportional to its driving speed. An operator of the agricultural machine typically has the ability to influence the driving speed by distributing the available engine power between the drive motor and the working units.

[0018] The engine speed of a forage harvester is generally constant during the harvesting process. However, specific fuel consumption is unnecessarily high if the engine is operated at higher speeds but is under little load at lower throughputs. On the other hand, at lower speeds, there is a risk of the engine stalling or crop blockages forming in the discharge chute of the agricultural machine if slightly higher crop throughputs then need to be processed briefly.

[0019] If the harvesting machine is under light load due to low crop throughput, the engine speed can be reduced to save fuel. However, this also affects the harvester's driving speed.

[0020] If the machine is designed, for example, as a forage harvester that picks up crops, chops them, and transfers them to a transport vehicle driving alongside or behind it, any change in the machine's speed makes it difficult for the transport vehicle operator to drive synchronously alongside the agricultural machine. Similarly, using cruise control to maintain a constant speed for the machine, which the transport vehicle operator must then adhere to, also results in increased fuel consumption when crop throughput is low.

[0021] The present invention is therefore based on the objective of providing a method that eliminates the disadvantages described in the prior art and enables fuel-saving operation of the working machine.

[0022] The problem is solved according to the invention by a method with the features of claim 1. Advantageous embodiments are described in the dependent claims.

[0023] In a first step, initial information about the geographic area in front of the machine is determined. For this purpose, at least one sensor of the area detection system is used. The sensor can preferably be arranged at the front of the self-propelled agricultural machine, particularly at the front of the operator's cab. However, it is also preferable that the area detection system comprises a plurality of sensors to scan the geographic area in front of the machine, with each sensor preferably capable of determining initial information about the area in front.

[0024] In a second step, the initial captured foreground information is transmitted to the control system of the self-propelled work machine. Preferably, the control system may include not only a processing unit but also a memory for at least temporarily storing the information captured by the foreground detection system, so that the foreground information is first transmitted to the memory before being retrieved by the processing unit. Alternatively, the foreground information may be transmitted directly to the processing unit of the control system.

[0025] In a third step, a second piece of preliminary information is transmitted to the control system. This second piece of preliminary information is taken from a biomass forecast map. The biomass forecast map is a map containing information about the biomass expected to be available for harvesting by the machine. For the purposes of this invention, "biomass" refers to the quantity of crop available for harvesting during the harvesting process. This includes, in particular, plants standing in the field that are to be harvested. The biomass can refer, for example, to an absolute value, expressed in tonnes per hectare (t / ha), or to a relative distribution. In addition to biomass, the biomass forecast map can also contain further information concerning the field to be harvested, in particular the maturity of the crop and individual field zones.

[0026] The biomass forecast map was generated at least partially offline, meaning it was created with a time lag compared to the ongoing harvesting process. In contrast, the information captured by the sensor is georeferenced data about the field in question, generated online at the harvesting machine.

[0027] The biomass forecast map can also be GPS-based, i.e., depending on the location of the agricultural machinery, provide information regarding the geographical area in front of the agricultural machinery.

[0028] The biomass forecast map can be generated based on various information sources. Growth models and statistical models, particularly those employing artificial intelligence, can be used to create the biomass forecast map. Vegetation indices and channels can also be utilized. The biomass forecast map receives information about the expected yield of the field to be harvested for a multitude of reference points within the field. Specifically, the biomass forecast map can be structured as a matrix-like arrangement of pixels, with each pixel representing one or more pieces of information about the field to be harvested.

[0029] In a fourth step, the predictive accuracy of at least the first and / or second preliminary information is determined.

[0030] In the context of the present invention, the "predictive accuracy" of preliminary information is understood as a measure of the accuracy of that preliminary information. In particular, it refers to the correspondence between the preliminary information and the conditions of the field to be harvested. In other words, the predictive accuracy indicates how well the preliminary information corresponds to reality.

[0031] It may be possible to determine the accuracy of the forecast by comparing the forecast information about the area in front of the field, as recorded by the field monitoring system, with the information actually measured during the harvesting process. For example, the agricultural machine may be equipped with sensors that, among other things, determine the crop throughput directly at the machine.

[0032] In a fifth and preferably final step of the process, the control system's processing unit determines a setting for the drive motor. This setting preferably relates to the rotational speed or the motor power. The setting is chosen such that the machine can efficiently process the harvested crop and be driven at a predetermined speed. The determined motor setting provides the required motor power with the necessary torque. The first set of preliminary information and its predictive accuracy, and / or the second set of preliminary information and its predictive accuracy, are taken into account when determining the motor setting. In other words, at least one set of preliminary information and its associated predictive accuracy are used to determine the motor setting.

[0033] In a subsequent step, it may be provided that the drive motor of the working machine is controlled by the control system, taking into account the previously determined setting.

[0034] The method according to the invention has many advantages. In particular, when a reduced crop throughput is predicted, the engine settings are adjusted accordingly, adapting the drive motor to the crop throughput and the specified driving speed. Advantageously, the engine power can be adapted to the required torque in this way, so that reduced fuel consumption can be achieved when the engine is operating in a partial load range, compared to when the engine settings are not adjusted. At the same time, the engine settings can be adjusted while maintaining the driving speed of the machine. This simplifies synchronization between the machine and a transport vehicle that is to travel alongside or behind the machine.

[0035] When determining the engine settings, information from the area in front of the machine, or rather its predictive accuracy, is used. The latter is a measure of how well the system can detect the area in front of the agricultural machine. The engine settings are therefore determined predictively based on a forecast of the expected crop throughput. The machine can thus be controlled independently depending on the expected crop throughput.

[0036] According to a further preferred embodiment of the invention, the first foreground information is a stand density, a cutting height, a stand height and / or a partial width of the geographical foreground of the working machine.

[0037] The current cutting height is typically – assuming the machine is a rotary mower – dependent on the operating point of one of the machine's cutting units. Furthermore, the cutting height depends on the set stubble height.

[0038] For the purposes of the present invention, "current partial width" is understood to mean the actual utilization of a working width of a header attachment of the self-propelled harvesting machine, while "working width" is understood to mean the width of the header attachment used at a specific time during the harvesting process. In other words, "working width" can be understood as the total width of the header attachment available for working the field to be harvested. For example, it may be provided that the harvesting machine travels across the field, whereby the width of the section of the field to be harvested is less than the working width of the header attachment, so that working the field—using the entire width of the header attachment—would result in working a part that does not belong to the field to be harvested.In such a case, only a "part" of the working width of the attachment is used; this part is referred to as the "actual partial width" within the meaning of the present invention.

[0039] Alternatively, it is also conceivable that the crop height of the field to be harvested is not determined by the sensor, but rather by an elevation difference map or a topography map fed into the control system. The elevation difference map can be based on information obtained by a drone, an aircraft, or a satellite.

[0040] It is possible for the aforementioned apron information to be acquired by means of a single sensor assigned to the apron detection system. However, it is equally possible for the apron detection system to comprise multiple sensors, each of which acquires different apron information.

[0041] According to a preferred embodiment of the invention, the forefield detection system acquires a third piece of forefield information, which is also taken into account when determining the engine setting. This third piece of forefield information can also be acquired by means of the sensor of the forefield detection system.

[0042] The third piece of information regarding the area in front of the machine can be – analogous to the first piece of information regarding the area in front of the machine – the stand density, the cutting height, the stand height and / or the partial width of the geographical area in front of the machine.

[0043] A preferred embodiment of the invention provides that the sensor is designed as a LiDAR sensor. A LiDAR sensor is understood to be a sensor that can determine the distances and speeds of target objects by emitting light waves. It therefore operates on the same principle as radar, but differs in the frequency of the emitted light waves. A LiDAR sensor can reliably determine information concerning the geographical area in front of the agricultural machine, in particular the working width and the crop height of the field to be harvested. The LiDAR sensor can also detect the proportion of lodged grain, i.e., bent grain that is difficult to harvest.

[0044] According to a preferred embodiment of the invention, the sensor is designed as a camera, preferably a stereo camera. The camera can preferably be arranged on the driver's cab of the agricultural machine. The camera can be used to detect the crop height, crop density, section width, the proportion of lodged grain, weeds, and the degree of ripeness of the field to be harvested, and to transmit this information as preliminary information to the control system.

[0045] It can also be provided that the sensor creates a processing map from the initial apron information of the geographic apron. The partial width, for example, can be extracted from this map.

[0046] According to an advantageous embodiment of the invention, the foreground detection system comprises two sensors, a first sensor being a LiDAR sensor and a second sensor being a camera. The first sensor captures the first foreground information, while the second sensor captures the third foreground information. Tests have shown that a combination of the two aforementioned sensors is particularly suitable for determining the geographic foreground of the agricultural machine with exceptional reliability. Each sensor captures a piece of foreground information relating to the geographic foreground of the agricultural machine and preferably transmits this information to the control system, which processes the two pieces of foreground information together with the second foreground information to determine an engine setting.

[0047] An advantageous embodiment of the invention provides that the biomass forecast map is based on satellite images of the field to be harvested. Preferably, the acquired satellite images may be positionally corrected before being used to create the biomass forecast map. It is also conceivable to use images from different satellites to improve the accuracy of the satellite images.

[0048] Preferably, the satellite images of the field to be harvested are acquired in a wavelength range of approximately 380 nm to 3000 nm, preferably from approximately 400 nm to 900 nm. Furthermore, it is preferable if the respective satellite detects several spectral bands, preferably 5 to 15 spectral bands.

[0049] Preferably, each satellite image has a spatial resolution of 2 m to 20 m, preferably 3 m to 10 m. However, it is also possible to select satellite images with a lower resolution, preferably in the range of 0.3 m to 2 m, although these are generally subject to comparatively high procurement costs. Furthermore, the satellite image of the field to be harvested can be repeatedly acquired at intervals of hours to several days in order to continuously update the resulting biomass forecast map.

[0050] For example, the satellites Sentinel-2A and Sentinel-2B, part of the Sentinel-2 space mission, can be used to create satellite images. These satellites are a pair of optical Earth observation satellites in a sun-synchronous orbit. Alternatively or additionally, satellite images from satellite constellations, such as the PlanetScope constellation, can also be used. Particularly when fluctuations occur in the determination of the number of satellites, the use of satellite images from different satellites can be especially advantageous.

[0051] However, it is also possible that the biomass forecast map is based on drone images and / or images taken using radar remote sensing, with the images being taken of the field to be harvested in a known manner.

[0052] A particularly advantageous further development of the method according to the invention provides that the biomass forecast map is determined as a function of the reflection of sunlight by the plants located in the field, whereby a normalized differentiated vegetation index (NDVI) is determined for this purpose. The normalized differentiated vegetation index provides that a portion of the sunlight reflected by the plants standing in the field to be harvested is measured, particularly in the infrared region of the spectrum, which begins at a wavelength of 780 nm. Preferably, it can be provided that measurements are taken only in the near-infrared (NIR) region, i.e., up to a wavelength of 2500 nm. At the same time, the reflection of the portion of sunlight that lies in the red, visible region, which corresponds approximately to a wavelength range of 625 nm to 780 nm, can be measured.

[0053] The aforementioned normalized differentiated vegetation index (NDVI) can then be determined as follows: NDVI = NIR − Rot NIR + Rot

[0054] "NIR" represents the value of the reflection measured in the infrared range, while "Red" represents the value of the part of sunlight measured in the red, visible part of the spectrum.

[0055] The measured values ​​can then be converted into a biomass forecast map, where a high NDVI value indicates high photosynthetic activity, while a low NDVI value indicates low photosynthetic activity, which in turn suggests diseased or dead vegetation, stones, or arable land. The biomass forecast map generated using the normalized differentiated vegetation index values ​​thus provides a reliable overview of the available biomass.

[0056] Preferably, the second piece of information can be a value of the vegetation index. Thus, it can be provided that, in addition to the first piece of information determined by the sensor, an NDVI value, which represents a measure of photosynthetic activity, is used to determine the engine setting for the agricultural machine. A combination of these two pieces of information has proven particularly advantageous.

[0057] Preferably, the second piece of information can be a weighted average of a segment of the vegetation index in front of the field. For example, the vegetation index could be determined for a relevant measurement area, also called a "region of interest." This relevant measurement area can, in turn, be subdivided into a multitude of segments. Preferably, the relevant measurement area lies in the area in front of the agricultural machinery.

[0058] It may be possible to determine the vegetation index as a weighted average for several relevant measurement areas, where the relevant measurement areas are represented as strip-like regions. For example, three relevant measurement areas, arranged at different distances from a cutter bar of the machine, may be used, each subdivided into several segments. Each segment is larger than the resolution of the corresponding satellite image, allowing for a weighted average of the respective vegetation index for each segment.

[0059] According to an advantageous embodiment of the invention, the first and / or second preliminary information is weighted when determining the engine setting. Since both the first and second preliminary information are considered when determining the engine setting, it is possible to weight them differently. The influence of the first and second preliminary information can thus be weighted. For example, it can be provided that both the first and second preliminary information are considered equally when determining the engine setting. Likewise, it can be provided that either the first or the second preliminary information is given greater weight in the determination.

[0060] According to a further preferred embodiment of the invention, the weighting of the first upstream information is reduced compared to the weighting of the second upstream information when determining the engine setting if the first upstream information has a low predictive accuracy. Thus, if the predictive accuracy of the first upstream information is low, i.e., if the first upstream information is a poor indicator of the conditions of the field to be harvested, it can be provided that the first upstream information is given less weight in determining the engine setting than the second and / or any further upstream information.Such a case can occur, for example, when a large number of sensors are assigned to the field monitoring system, and a comparison of the correspondingly determined information regarding the geographical area in front of the field reveals that the system cannot provide reliable information for the relevant section of the field to be harvested. In such a case, it may be necessary to assign greater weight to the second piece of field information, which originates from the offline-generated forecast inventory model.

[0061] Similarly, a further advantageous embodiment of the invention provides that the weighting of the second foreground information is reduced when determining the engine setting if the second foreground information has a low predictive accuracy. The information concerning the geographical foreground of the agricultural machine, acquired by the sensor of the foreground detection system, is typically less prone to error, making this case particularly advantageous.

[0062] Preferably, the system can provide power output in at least two engine power levels selectable by the control system. This allows the drive motor's power output to be adapted to reduced crop throughput, thus achieving reduced fuel consumption at a constant driving speed of the machine.

[0063] According to a preferred embodiment of the invention, a target torque to be applied, which lies below the maximum torque of the drive motor, is assigned within the at least two motor power stages. In this way, it can be ensured that sufficient torque can still be applied by the drive motor even with a reduced crop throughput.

[0064] Furthermore, it can preferably be provided that in each of the at least two motor power levels, speeds within a given speed range deliver the same target torque. Advantageously, this avoids unnecessarily frequent switching between motor power levels, which would place a particular strain on the drive motor and create an unpleasant noise level for the operator of the machine.

[0065] A further embodiment of the invention provides that the engine switches to a lower power level when the actual rotational speed exceeds the upper speed limit within a given power level. If the crop throughput decreases, downshifting to the next lower power level provides the necessary torque for the required engine power, while simultaneously ensuring that the power output occurs within a speed range associated with lower fuel consumption.

[0066] Conversely, it can also be stipulated that the engine switches to a higher power level if the actual speed falls below the lower speed limit within a given power level. Switching to the next higher power level occurs when the crop throughput increases, ensuring the necessary torque is available.

[0067] An advantageous embodiment of the invention provides that switching between motor power levels occurs automatically, i.e., without manual intervention, by means of the control system, or manually by the operator via an operating and display unit. A combination of the two aforementioned variants is also conceivable. For example, it can be provided that switching is generally automatic, but manual intervention by the operator is still possible in order to give the operator freedom of choice in controlling the drive motor in special situations.

[0068] The aforementioned problem is further solved by a self-propelled agricultural machine according to claim 14. The advantages mentioned in relation to the method according to the invention apply analogously to the agricultural machine according to the invention. The self-propelled agricultural machine according to the invention can be designed as a self-propelled forage harvester or as a self-propelled combine harvester for agricultural use in an agricultural field.

[0069] The invention is explained in more detail below with reference to an exemplary embodiment shown in the figures. These show: Fig. 1: A sectional view of a self-propelled agricultural machine according to the invention. Fig. 2: A schematic representation of the transmission of data acquired from a satellite to the machine. Fig. 3: A top view of the agricultural machine according to the invention.Figure 1 Fig. 4: A schematic view of two sensors of an in-field detection system of the agricultural machine made of Figure 1 Fig. 5: How Figure 4 , in an alternative configuration of the apron detection system. Fig. 6: How Figure 4 , in a further alternative embodiment of the forefield detection system. Fig. 7: A schematic representation of data exchange between a plurality of work machines according to the invention.

[0070] An agricultural work machine according to the invention 1 is in the Figures 1 to 7 shown. The work machine 1 is in the form of a rotary mower 13 trained. The self-propelled combine harvester 13 has several working organs 2 for receiving, processing and forwarding harvested crops 4 a field to be harvested 3 on.

[0071] Thus, the combine harvester indicates 13 a threshing machine 14for threshing harvested crops 4 to grain. Under the harvested crop 4 This includes the entire field to be harvested. 3 recorded and the threshing machine 14 to understand the material supplied, whereby the grain is then processed by the combine harvester 13 from the harvest 4 The term refers to the grains to be harvested.

[0072] Basically, the threshing machine serves 14 for rubbing the majority of the grain out of the straw of the harvested crop 4 through the threshing process. In which, as a separation order 15 designed working organ 2 will the harvested crop then be 4 with the remaining grain portion in it, moved, e.g. shaken, so that the remaining grain is also removed as much as possible from the straw and other harvested material. 4 is separated out. This is in the threshing machine. 14 and the separation order 15 The recovered grain is then used as a cleaning order16 designed working organ 2 supplied. In the cleaning order 16, In this process, which is regularly multi-stage, non-grain components carried in the grain up to this point, such as chaff and straw fragments, as well as unthreshed material like ear tips or awns, are separated from the grain. The cleaned grain then proceeds via a conveyor system. 17, e.g. a grain elevator, into a grain tank 18. The threshed straw - that is, the remaining harvested crop 4 in the separation order 15 - is from the combine harvester 13 laid down, e.g. as a swath along a track of the combine harvester 13.

[0073] The aforementioned working bodies 2 as well as a drive system 28 are via a drive motor 30 powered. This drive motor 30 is in addition to the drive of the working organs 2for propelling the self-propelled agricultural machine 1 at a speed in one direction of travel 19 along the field to be harvested 3 trained. The drive motor 30 can be connected to the working elements by means of at least one and / or more coupling devices 2 be coupled to the drive.

[0074] The above working organs 2 Each can be controlled by specifying various machine parameters. A threshing unit shown above. 14 This can be controlled, for example, by specifying various threshing unit parameters. These include, depending on the design of the threshing unit, 14 Drive parameters such as drum speed or other movement characteristics of the threshing drum, as well as concave width – that is, the distance between the threshing drum and a threshing concave. Provided the threshing mechanism 14De-awning flaps can also be used as part of the control of the threshing system. 14 be adjusted.

[0075] It is also a ground detection system 5 for the collection of information regarding a geographical pre-aircraft area 6 of the self-propelled combine harvester 13 planned. The apron 6 of the combine harvester 13 is in a forward area of ​​the combine harvester 13 located. The apron detection system 5 in turn, it has a sensor 7 on, which is attached to the front of a driver's cab 20 of the combine harvester 13 is arranged. The sensor 7 is in the form of a LiDAR sensor 10 trained and intended to provide information concerning the geographical area 6 of the combine harvester 13 to determine. The LiDAR sensor 10 This determines the inventory level. 26 as well as the partial width 12of the field to be harvested 3.

[0076] Furthermore, the combine harvester 13 a tax system 8 on, which in turn is equipped with a computing unit 9 is connected. The computing unit 9 is designed and set up to detect the data from the apron detection system 5 to process the acquired information relating to a machine parameter. In this case, the machine parameter is a travel speed, and thus a parameter for controlling the drive system. 28 of the combine harvester 13. The tax system 8 Furthermore, a control device, not shown in the figures, is assigned to it. The control device serves to regulate the output of the computing unit. 9 determined machine parameters to the drive system 28 to forward. 28 assigned vehicle speed control 25,which part of the tax system 8 This then enables control of the drive system. 28 with specification of the determined optimal driving speed.

[0077] In the present case, it is assumed that a drive power supplied by the drive motor 30 for the journey across the field to be harvested 3 and for the operation of the working organs 2 The power that must be provided is proportional to the driving speed and therefore also proportional to the crop throughput. However, the required drive power can change continuously during the harvesting process depending on set machine parameters, such as the threshing drum speed or the cutting length, as well as the presence of hills or valleys.

[0078] Typically, with well-known combine harvesters 13 a constant operating speed for the working components 2Initially, a speed was set at which maximum engine power was available. However, a disadvantage of this approach has proven to be that – if the corresponding torque is not fully required – it generates unnecessarily high fuel consumption. Reducing the engine speed is not possible, however, due to the necessary speed requirements of the combine harvester. 13 not desirable.

[0079] According to the invention, the rotational speed is therefore predetermined and not changed, even if the crop throughput decreases. This is made possible in particular by the fact that the power output of the drive motor is predetermined. 30This can be achieved in at least two motor power levels. The driving speed is kept constant by means of a driving speed control (cruise control), while the power output is reduced or increased. Nevertheless, the required power and torque, adapted to the field 3 being harvested, are provided. Switching between the motor power levels occurs automatically. A corresponding flowchart of a motor control system is shown. 38 Given a specified performance requirement, this involves Figure 1 shown.

[0080] If, due to a low crop throughput, the actual rotational speed exceeds an upper speed limit within a given engine power stage, the control system automatically adjusts the speed accordingly. 8The motor is switched to a lower power level. Conversely, it can also be switched to a higher power level if the actual speed – due to a higher crop throughput – falls below a lower speed limit within the current power level. The target torque within each power level is below the maximum torque of the drive motor. 30 The engine is arranged in a specific configuration. Furthermore, each engine power level is assigned a specific speed within its respective speed range that delivers the same target torque. This allows the speed to be kept constant within narrow limits without negatively impacting fuel consumption.

[0081] Determining the required and on the drive motor 30 The speed is set as follows:

[0082] As a first step, a current partial width is determined. 12 of the combine harvester13 using the camera 11 recorded how from Figure 3 is recognizable. The current partial width 12 In a second step, this information is then sent to the computing unit as initial preliminary information. 9 transmitted.

[0083] In a third step, a second piece of preliminary information is sent to the computing unit. 9 transmitted. The second piece of preliminary information is information from an offline generated forecast inventory model of the field to be harvested. 3. The information is contained in a biomass forecast map. 27 summarized which in Figure 1 This is shown schematically. The information represents a value for a predicted biomass in the area ahead. 6 of the combine harvester 13.

[0084] The biomass forecast map 27 This was preceded in time by satellite images of the field to be harvested. 3created as from Figure 2 This is evident. The satellite images were captured using a satellite 21 created and connected to a data processing facility located on Earth 22 transferred, which then generates a biomass forecast map 27 created. This was then sent to a data transmission device. 23 transmitted wirelessly to the combine harvester 13 was transferred. For example, it may be provided that the biomass forecast map 27 of the field to be harvested 3 in a storage unit 24 the computing unit 9 of the combine harvester 13 is stored and by the computing unit 9 can be accessed.

[0085] Furthermore, the sensor, which is designed as a LiDAR sensor, is used. 13 of the apron detection system 5 a stock density of the field to be harvested 3 determined how from Figure 1This is evident. The information about the population density is also sent to the processing unit as a third piece of preliminary information. 9 transferred to the working machine.

[0086] For each of the apron detection system 5 The captured preliminary information is then processed in the next step using the computing unit. 9 a predictive accuracy that is shown in the figure 1 with the reference marks 35, 36, 37 The determination of the forecast accuracy is illustrated at the location of their recording. 35, 36, 37 This is done by means of a comparison between the data from the pre-flight detection system. 5 The recorded preliminary information, such as the stock density, is combined with the stock information obtained by means of the combine harvester. 13 assigned sensors, for example using the throughput sensor 31, were recorded. The work machine shown in the figures 1 This includes a yield sensor. 29,the throughput sensor 31 as well as a cutting height sensor 32 the latter being in the realm of intent 33 the working machine 1 is arranged. The throughput sensor 31 is in the area of ​​an inclined conveyor 34 the working machine 1 arranged while the yield sensor 29 - along a conveyor path of the crop 4 within the working machine 1 viewed - shortly before reaching the grain tank 18 is arranged.

[0087] This allows us to predict how reliable the respective preliminary information is. With low predictive accuracy... 35, 36, 37 The weighting of the associated preliminary information is reduced, so that the engine setting is not determined based on incorrect information. Conversely, the influence of the preliminary information can be increased with a higher predictive accuracy. 35, 36, 37to be enlarged. The forecast accuracy 35, 36, 37 This indicates a predicted reliability of the respective preliminary information, since a comparison with the actual inventory information can only be made at a specific point in time, as the actual information is recorded live, i.e. in real time, during the harvesting process.

[0088] In a next step, a summary of the conditions on the field is created from the first, second, and third preliminary information, taking into account their respective weighting. 3 adjusted motor setting of the drive motor 30 determined, which on the one hand has a predetermined rotational speed, a driving speed and / or a predetermined crop throughput and on the other hand has a harvesting of the field. 3 made possible with the lowest possible fuel consumption.

[0089] A projected crop throughput can be determined beforehand from the first, second, and third preliminary data points, taking into account their respective weighting. Based on this projected crop throughput, the engine settings are then adjusted using the processing unit. 9 of the tax system 8 determined and the drive motor 30 according to the engine control unit 38 targeted.

[0090] The Figure 4 shows how the Figures 5 and 6 The diagram schematically illustrates the technical implementations used to determine crop throughput and the associated preliminary information. Each figure shows a machine. 1 schematically indicated. The figures are intended only to represent the functions of a work machine. 1 Systems for recording information concerning the geographical area in front of the work machine, used simultaneously1 to demonstrate. In other words, it is intended that the various configurations for capturing preliminary information will be integrated into a single agricultural machine. 1 have been realized.

[0091] According to the procedure described above, preliminary information obtained by means of the agricultural machinery can be used. 1 arranged LiDAR sensor 10 were determined, and on the other hand, preliminary information that came from the biomass forecast map 27 were extracted, used. Such a design is in the Figure 4 shown.

[0092] However, an alternative embodiment of the method according to the invention can also provide that the LiDAR sensor 10, as in Figure 5 shown, against one on the agricultural machinery 1 camera positioned 11 replaced or - as in Figure 6shown - supplemented by these, so that the pre-flight detection system 5 two sensors 7 are assigned. The use of a LiDAR sensor 10 or a camera 11 Each has advantages and disadvantages, with the disadvantages being greater in a design according to Figure 6 , i.e., a combination of LiDAR sensor 10 and camera 11, through the respective other sensor 7 can be balanced out.

[0093] In the Figures 1 to 6 shown combine harvester 13 is the apron detection system 5 on that combine harvester 13 arranged, whose drive motor 30 to be set up. Alternatively, however, it may be planned that another apron detection system is used. 5 on another, preceding work machine 1 is arranged as in Figure 7 This has been shown. Furthermore, it is conceivable that a pre-flight detection system 5on one of the working machines 1 separate measuring vehicle or otherwise separate from the working machine 1 is arranged. In any case, it may be provided that the respective pre-flight detection systems 5 Information collected concerning the field to be harvested 3 between the work machines 1 exchanged and taken into account when determining a respective engine setting. Reference symbol list

[0094] 1 Working machine 2 Working element 3 Field 4 Crop 5 Field detection system 6 Field 7 Sensor 8 Control system 9 Computing unit 10 LiDAR sensor 11 Camera 12 Section width 13 Combine harvester 14 Threshing unit 15 Separation arrangement 16 Cleaning arrangement 17 Transport arrangement 18 Grain tank 19 Direction of travel 20 Driver's cab 21 Satellite 22 Data processing unit 23 Data transmission unit 24 Storage unit 25 Travel speed control 26 Crop height 27 Biomass forecast map 28 Drive system 29 Yield sensor 30 Drive motor 31 Throughput sensor 32 Cutting height sensor 33 Header 34 Inclined conveyor 35 Forecast accuracy of the first field information 36 Forecast accuracy of the second field information 37 Forecast accuracy of the third field information 38 Motor control

Claims

1. A method for controlling at least one self-propelled agricultural work machine (1), the work machine (1) comprising - at least one working element (2) for processing a crop (4) picked up from a field (3) to be harvested as part of a harvesting process, - at least one travel drive (28) for driving the work machine (1), - at least one apron detection system (5) for detecting information regarding a geographical apron (6) of the self-propelled work machine (1), wherein the apron detection system (5) comprises at least one sensor (7) arranged on the self-propelled work machine (1), - at least one control system (8),wherein the control system (8) comprises at least one computing unit (9) for processing the information acquired by the apron detection system (5) on at least one machine parameter for controlling the at least one travel drive (28) and / or on at least one machine parameter of the at least one working element (2) of the self-propelled work machine (1), , characterized by the following process steps:- Acquiring first apron information of the geographical apron (6) by means of the sensor (7) of the apron detection system (5). - Transmitting the first apron information to the control system (8). - Transmitting second apron information to the control system (8), wherein the second apron information comprises at least one piece of information from a biomass forecast map (27). - Determining a forecast quality (35, 36) of at least the first and / or second apron information. - Determining an engine setting of a drive motor (30) for driving the work machine (1) as a function of at least the first apron information and its forecast quality (35) and / or the second apron information and its forecast quality (36) by means of the computing unit (9) of the control system (8).

2. Method according to claim 1, characterized in thatthe first apron information is a crop density, a cutting height, a crop height (26) or a partial width (12) of the geographical apron (6) of the working machine (1).

3. Method according to claim 1 or 2, characterized in that the sensor (7) detecting the first apron information is designed as a LiDAR sensor (10) or as a camera (11), preferably as a stereo camera.

4. Method according to one of the preceding claims, characterized in that the biomass forecast map (27) is based on satellite images of the field to be harvested (3).

5. Method according to one of the preceding claims, characterized in that the first and / or second apron information is weighted when determining the engine setting.

6. Method according to claim 5, characterized in thatthe weighting of the first apron information is reduced compared to the weighting of the second apron information when determining the engine setting if the forecast quality (35) of the first apron information is low.

7. Method according to claim 5 or 6, characterized in that the weighting of the second apron information is reduced compared to the weighting of the second apron information when determining the engine setting if the forecast quality (36) of the second apron information is low.

8. Method according to one of the preceding claims, characterized in that a power output is effected in at least two engine power levels selectable by the control system (8).

9. Method according to claim 8, characterized in that within the at least two engine power levels, a target torque to be applied which is below a maximum torque of the drive motor (30) is assigned.

10. Method according to claim 8 or 9, characterized in that In each of the at least two engine power levels, speeds lying within a speed range produce the same target torque.

11. Method according to one of claims 8 to 10, characterized in that is switched to the next lower engine power level if an actual speed exceeds the upper speed limit within an engine power level.

12. Method according to one of claims 8 to 11, characterized in that is switched to the next higher engine power level when the actual speed falls below the lower speed limit within an engine power level.

13. Method according to one of claims 8 to 12, characterized in that switching between the engine power levels takes place automatically by means of the control system (8) or is carried out manually by the operator via an operating and display unit.

14. Agricultural self-propelled working machine (1), characterized in that the working machine (1) is suitable for carrying out a method according to one of claims 1 to 13.

15. Agricultural working machine (1) according to claim 14, characterized in that the working machine (1) is designed in the form of a field chopper or a combine harvester (13).

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